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Copy pathm_srv_car_init.5.lua
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m_srv_car_init.5.lua
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if m.car=="enabled" then
--variables
--m.car_wheel_lock=1
--m.car_wheel_count_state=0
m.car="started"
m.car_bumper_lastpress=0
spdTargetA=1023;--target Speed
spdCurrentA=0;--current speed
spdTargetB=1023;--target Speed
spdCurrentB=0;--current speed
stopFlag=true;
m.car_dist_hit=false
spdFactor=1
--functions
--bumper function
function car_wall_follow_bumper(level)
spdTargetA,spdTargetB=1023,1023
tmr.stop(car_tmr_turn_right)
tmr.stop(car_tmr_speedup)
tmr.stop(car_tmr_after_left)
tmr.stop(car_tmr_dist_bumper)
spdFactor=1
if gpio.read(m.car_bumper)==0 then --we hit something
gpio.trig(m.car_infra)
m.car_dist_hit=false
spdTargetA,spdTargetB=850,1023 --for wheels to the back
local_cmd("car_steer_200","car_left")
else --we released from hitting something
gpio.trig(m.car_infra, 'both', car_wall_follow_infra)
tmr.start(car_tmr_dist_bumper)
if gpio.read(m.car_infra)==0 and distance>=10 and spdFactor==1 then
spdFactor=0.9
local_cmd("car_steer_200","car_steer_485")
tmr.start(car_tmr_speedup)
else
spdTargetA,spdTargetB=850,1023 --for wheels to the back
local_cmd("car_steer_200","car_left")
car_tmr_turn_right:interval(350)
tmr.start(car_tmr_turn_right)
end
end
end
-- side infra follow
function car_wall_follow_infra()
tmr.stop(car_tmr_speedup)
tmr.stop(car_tmr_turn_right)
spdFactor=1
spdTargetA,spdTargetB=1023,1023
if gpio.read(m.car_infra)==0 then
spdFactor=0.9
local_cmd("car_steer_200","car_steer_485")
tmr.start(car_tmr_speedup)
elseif m.car_dist_hit==false then
local_cmd("car_steer_200","car_steer_800") --for wheels to the back
car_tmr_turn_right:interval(300)
tmr.start(car_tmr_turn_right)
end
end
-- side infra turn left
function car_wall_turn_infra()
tmr.stop(car_tmr_speedup)
tmr.stop(car_tmr_turn_right)
spdFactor=1
spdTargetA,spdTargetB=1023,1023
if gpio.read(m.car_infra)==0 then
tmr.start(car_tmr_wall_turn_infra)
else
tmr.stop(car_tmr_wall_turn_infra)
end
end
-- side infra follow line
function car_wall_line_infra(level)
tmr.stop(car_tmr_speedup)
tmr.stop(car_tmr_turn_right)
spdFactor=1
spdTargetA,spdTargetB=1023,1023
if level==0 then
tmr.stop(car_tmr_wall_line_infra)
local_cmd("car_steer_200","car_steer_380")
else
tmr.start(car_tmr_wall_line_infra)
local_cmd("car_steer_200","car_steer_650")
end
end
--
--GPIO defines
--sensors
gpio.mode(m.car_bumper,gpio.OUTPUT) --to disable uart
gpio.mode(m.car_bumper, gpio.INT, gpio.PULLUP)
gpio.mode(m.car_infra, gpio.INT, gpio.PULLUP)
--wheels
gpio.mode(m.car_pwm_1,gpio.OUTPUT);gpio.write(m.car_pwm_1,gpio.LOW)
gpio.mode(m.car_pwm_2,gpio.OUTPUT);gpio.write(m.car_pwm_2,gpio.LOW)
gpio.mode(m.car_dir_1,gpio.OUTPUT);gpio.write(m.car_dir_1,gpio.HIGH)
gpio.mode(m.car_dir_2,gpio.OUTPUT);gpio.write(m.car_dir_2,gpio.HIGH)
pwm.setup(m.car_pwm_1,1000,1023) --PWM 1KHz, Duty 1023
pwm.start(m.car_pwm_1);pwm.setduty(m.car_pwm_1,0)
pwm.setup(m.car_pwm_2,1000,1023)
pwm.start(m.car_pwm_2);pwm.setduty(m.car_pwm_2,0)
--timers
--for compass
car_compass_tmr=tmr.create()
car_compass1_tmr=tmr.create()
--turn right
car_tmr_turn_right=tmr.create()
tmr.register(car_tmr_turn_right, 200, tmr.ALARM_SEMI, function ()
spdFactor=1
local_cmd("car_steer_900","car_steer_1000")
end)
-- speed up tmr
car_tmr_speedup=tmr.create()
tmr.register(car_tmr_speedup, 500, tmr.ALARM_SEMI, function ()
spdFactor=1
gpio.trig(m.car_infra, 'both', car_wall_line_infra)
end)
-- after left turn
car_tmr_after_left=tmr.create()
tmr.register(car_tmr_after_left, 1500, tmr.ALARM_SEMI, function ()
local_cmd("car_steer_200","car_steer_750")
car_tmr_turn_right:interval(200)
tmr.start(car_tmr_turn_right)
end)
--
car_tmr_wall_turn_infra=tmr.create()
tmr.register(car_tmr_wall_turn_infra,100, tmr.ALARM_SEMI, function ()
gpio.trig(m.car_infra, 'both', car_wall_follow_infra)
spdTargetA,spdTargetB=1023,1023
local_cmd("car_steer_200","car_steer_485")
end)
--
car_tmr_wall_line_infra=tmr.create()
tmr.register(car_tmr_wall_line_infra,1000, tmr.ALARM_SEMI, function ()
spdTargetA,spdTargetB=1023,1023
local_cmd("car_steer_200","car_turn_right")
end)
-- distance bumper
car_tmr_dist_bumper=tmr.create()
tmr.register(car_tmr_dist_bumper,30, tmr.ALARM_AUTO, function ()
if distance <=2.8 and distance >=0.5 and m.car_dist_hit==false then
gpio.trig(m.car_infra, 'both', car_wall_turn_infra)
m.car_dist_hit=true
tmr.stop(car_tmr_turn_right)
spdTargetA,spdTargetB=750,1023 --for wheels to the back
local_cmd("car_steer_200","car_left")
tmr.start(car_tmr_after_left)
spdFactor=1
elseif distance >=3 and m.car_dist_hit==true then
m.car_dist_hit=false
elseif distance <=10 then
spdFactor=0.8
end
end)
--wheel speed control
car_tmr=tmr.create()
tmr.register(car_tmr, 50, tmr.ALARM_AUTO, function ()
if stopFlag==false then
spdCurrentA=spdTargetA*spdFactor
spdCurrentB=spdTargetB*spdFactor
pwm.setduty(m.car_pwm_1,spdCurrentA)
pwm.setduty(m.car_pwm_2,spdCurrentB)
else
pwm.setduty(m.car_pwm_1,0)
pwm.setduty(m.car_pwm_2,0)
end
end)
tmr.start(car_tmr)
end
--dofile("m_srv_car.lua")
--node.compile("m_srv_car_init.lua")
--print(node.heap())